arXiv subjects

Liwen Yang

Publications and source records attributed to Liwen Yang.

4 recordsLinked to original sources

arXiv2026

FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation

Contact-rich loco-manipulation requires a bridge between semantic action generation and physical interaction control. Existing Vision-language-action (VLA) models generate task-level actions from visual and linguistic observations, but cannot interpret the physical interactions induced by those actions. While the whole-body control (WBC) policy can stabilize the robot, it cannot distinguish task-relevant interaction forces from forces induced by external disturbances during manipulation. Although force/torque sensors provide direct measurements of physical interactions, retrofitting them entails additional hardware costs and substantial integration effort, particularly for platforms not designed with sensor integration in mind. To address this problem, we propose FWBC-VLA, a force-aware framework that bridges task-level VLA action generation and low-level whole-body compensation control for wheeled-legged robots. First, we introduce HSR-Force, a sensorless residual-torque estimator for inferring contact strength and its temporal variation. These contact estimates are then encoded as tokens and injected into the VLA action expert during action decoding, enabling the policy to perceive contact onset, sustained loading, and release. For loco-manipulation tasks, all parameters of the pretrained VLA backbone are fine-tuned on our WL\&Arm Dataset, which comprises more than 5,000 episodes. Moreover, the robot's proprioceptive state, the Jacobian-derived body-frame force estimate, and the estimated contact state are jointly fed into a compensation generator to produce corrective actions. The manipulation-centric actions are subsequently combined with the corrective actions and passed to the WBC policy for execution. Real-world experiments on whiteboard wiping and door opening with a door closer demonstrate the effectiveness of our FWBC-VLA in contact-rich loco-manipulation.

cs.RO↗

arXiv2026

From Pairs to Sequences: Track-Aware Policy Gradients for Keypoint Detection

Keypoint-based matching is a fundamental component of modern 3D vision systems, such as Structure-from-Motion (SfM) and SLAM. Most existing learning-based methods are trained on image pairs, a paradigm that fails to explicitly optimize for the long-term trackability of keypoints across sequences under challenging viewpoint and illumination changes. In this paper, we reframe keypoint detection as a sequential decision-making problem. We introduce TraqPoint, a novel, end-to-end Reinforcement Learning (RL) framework designed to optimize the \textbf{Tra}ck-\textbf{q}uality (Traq) of keypoints directly on image sequences. Our core innovation is a track-aware reward mechanism that jointly encourages the consistency and distinctiveness of keypoints across multiple views, guided by a policy gradient method. Extensive evaluations on sparse matching benchmarks, including relative pose estimation and 3D reconstruction, demonstrate that TraqPoint significantly outperforms some state-of-the-art (SOTA) keypoint detection and description methods.The code will be available at https://github.com/xiaomi-research/traqpoint.

cs.CV↗

arXiv2021

Fast Subspace Identification Method Based on Containerised Cloud Workflow Processing System

Subspace identification (SID) has been widely used in system identification and control fields since it can estimate system models only relying on the input and output data by reliable numerical operations such as singular value decomposition (SVD). However, high-dimension Hankel matrices are involved to store these data and used to obtain the system models, which increases the computation amount of SID and leads SID not suitable for the large-scale or real-time identification tasks. In this paper, a novel fast SID method based on cloud workflow processing and container technology is proposed to accelerate the traditional algorithm. First, a workflow-based structure of SID is designed to match the distributed cloud environment, based on the computational feature of each calculation stage. Second, a containerised cloud workflow processing system is established to execute the logic- and data- dependent SID workflow mission based on Kubernetes system. Finally, the experiments show that the computation time is reduced by at most $91.6\%$ for large-scale SID mission and decreased to within 20 ms for the real-time mission parameter.

eess.SY↗

arXiv2018

Universal scaling of strange particle $p_{\rm T}$ spectra in pp collisions

As a complementary study to that performed on the transverse momentum ($p_{\rm T}$) spectra of charged pions, kaons and protons in proton-proton (pp) collisions at LHC energies 0.9, 2.76 and 7 TeV, we present a scaling behaviour in the $p_{\rm T}$ spectra of strange particles ($K_{S}^{0}$, $\rm Λ$, $\rm Ξ$ and $ϕ$) at these three energies. This scaling behaviour is exhibited when the spectra are expressed in a suitable scaling variable $z=p_{\rm T}/K$, where the scaling parameter $K$ is determined by the quality factor method and increases with the center of mass energy ($\sqrt{s}$). The rates at which $K$ increases with $\mathrm{ln}\sqrt{s}$ for these strange particles are found to be identical within errors. In the framework of the colour string percolation model, we argue that these strange particles are produced through the decay of clusters that are formed by the colour strings overlapping. We observe that the strange mesons and baryons are produced from clusters with different size distributions, while the strange mesons (baryons) $K_{S}^{0}$ and $ϕ$ ($\rm Λ$ and $\rm Ξ$) originate from clusters with the same size distributions. The cluster's size distributions for strange mesons are more dispersed than those for strange baryons. The scaling behaviour of the $p_{\rm T}$ spectra for these strange particles can be explained by the colour string percolation model in a quantitative way.

hep-ph↗